Applications of Stretch Reflex for the Upper Limb of Musculoskeletal Humanoids: Protective Behavior, Postural Stability, and Active Induction

TL;DR

This paper explores the implementation of stretch reflex in the upper limb of musculoskeletal humanoids, demonstrating its potential for protective behavior, postural stability, and active induction, expanding its application beyond lower limbs.

Contribution

It introduces the application of stretch reflex to upper limbs in humanoids, highlighting its benefits for stability and protective functions, which were previously focused on lower limbs.

Findings

Stretch reflex enhances postural stability in humanoids.

Application of stretch reflex improves protective responses.

Parameter adjustments influence reflex behavior and effectiveness.

Abstract

The musculoskeletal humanoid has various biomimetic benefits, and it is important that we can embed and evaluate human reflexes in the actual robot. Although stretch reflex has been implemented in lower limbs of musculoskeletal humanoids, we apply it to the upper limb to discover its useful applications. We consider the implementation of stretch reflex in the actual robot, its active/passive applications, and the change in behavior according to the difference of parameters.